servoAfma6Segment2DCamVelocity.cpp

Example of eye-in-hand control law. We control here a real robot, the Afma6 robot (cartesian robot, with 6 degrees of freedom). The velocity is computed in camera frame. The visual feature is the segment between two points.

/****************************************************************************
 *
 * $Id: servoAfma6Point2DCamVelocity.cpp 3616 2012-03-09 14:31:52Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 *   tests the control law
 *   eye-in-hand control
 *   velocity computed in the camera frame
 *
 * Authors:
 * Filip Novotny
 *
 *****************************************************************************/

#include <visp/vpConfig.h>
#include <visp/vpDebug.h> // Debug trace
#include <stdlib.h>
#include <vector>
#if (defined (VISP_HAVE_AFMA6) && defined (VISP_HAVE_DC1394_2))

#include <visp/vp1394TwoGrabber.h>
#include <visp/vpImage.h>
#include <visp/vpImagePoint.h>
#include <visp/vpMath.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpFeatureSegment.h>
#include <visp/vpPoint.h>
#include <visp/vpServo.h>
#include <visp/vpFeatureBuilder.h>
#include <visp/vpRobotAfma6.h>
#include <visp/vpIoTools.h>
#include <visp/vpException.h>
#include <visp/vpMatrixException.h>
#include <visp/vpServoDisplay.h>
#include <visp/vpDot.h>
#include <visp/vpDisplay.h>
#include <visp/vpDisplayX.h>
#include <visp/vpDisplayOpenCV.h>
#include <visp/vpDisplayGTK.h>

int
main()
{
  // Log file creation in /tmp/$USERNAME/log.dat
  // This file contains by line:
  // - the 6 computed cam velocities (m/s, rad/s) to achieve the task
  // - the 6 mesured joint velocities (m/s, rad/s)
  // - the 6 mesured joint positions (m, rad)
  // - the 2 values of s - s*
  std::string username;
  // Get the user login name
  vpIoTools::getUserName(username);

  // Create a log filename to save velocities...
  std::string logdirname;
  logdirname ="/tmp/" + username;

  // Test if the output path exist. If no try to create it
  if (vpIoTools::checkDirectory(logdirname) == false) {
    try {
      // Create the dirname
      vpIoTools::makeDirectory(logdirname);
    }
    catch (...) {
      std::cerr << std::endl
                << "ERROR:" << std::endl;
      std::cerr << "  Cannot create " << logdirname << std::endl;
      exit(-1);
    }
  }
  std::string logfilename;
  logfilename = logdirname + "/log.dat";

  // Open the log file name
  std::ofstream flog(logfilename.c_str());

  try
  {
    vpServo task ;

    vpImage<unsigned char> I ;

    vp1394TwoGrabber g;
    g.setVideoMode(vp1394TwoGrabber::vpVIDEO_MODE_640x480_MONO8);
    g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_60);
    g.open(I) ;

    g.acquire(I) ;

#ifdef VISP_HAVE_X11
    vpDisplayX display(I,100,100,"Current image") ;
#elif defined(VISP_HAVE_OPENCV)
    vpDisplayOpenCV display(I,100,100,"Current image") ;
#elif defined(VISP_HAVE_GTK)
    vpDisplayGTK display(I,100,100,"Current image") ;
#endif

    vpDisplay::display(I) ;
    vpDisplay::flush(I) ;

    std::vector<vpDot> dot_d(2), dot(2) ;
    vpFeatureSegment seg_d,seg ;
    vpImagePoint cog;
    vpRobotAfma6 robot ;
    vpCameraParameters cam ;

    // Update camera parameters
    robot.getCameraParameters (cam, I);
    std::cout << "define the initial segment" << std::endl;

    for(std::vector<vpDot>::iterator i = dot.begin();i!=dot.end();i++){
      std::cout << "Click on a dot..." << std::endl;
      i->initTracking(I) ;
      cog = i->getCog();
      vpDisplay::displayCross(I, cog, 10, vpColor::blue) ;
      vpDisplay::flush(I);
    } 
    vpFeatureBuilder::create(seg, cam, dot[0], dot[1]);    
    seg.display(cam,I,vpColor::red);
    vpDisplay::flush(I);
    std::cout << "define the destination segment" << std::endl;
    for(std::vector<vpDot>::iterator i = dot_d.begin();i!=dot_d.end();i++){
      vpImagePoint ip;
      vpDisplay::getClick(I,ip);
      *i = vpDot(ip);
      vpDisplay::displayCross(I, ip, 10, vpColor::green) ;
    }
    vpFeatureBuilder::create(seg_d, cam, dot_d[0], dot_d[1]);
    seg_d.setZ1( 1. );
    seg_d.setZ2( 1. );

    seg_d.display(cam,I);
    vpDisplay::flush(I);
    // define the task
    // - we want an eye-in-hand control law
    // - robot is controlled in the camera frame
    task.setServo(vpServo::EYEINHAND_CAMERA) ;
    task.setInteractionMatrixType(vpServo::DESIRED); 

    // - we want to see both segments
    task.addFeature(seg, seg_d) ;

    // - set the constant gain
    task.setLambda(0.8) ;

    // Display task information 
    task.print() ;

    // Now the robot will be controlled in velocity
    robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL) ;

    std::cout << "\nHit CTRL-C to stop the loop...\n" << std::flush;
    for ( ; ; ) {
      // Acquire a new image from the camera
      g.acquire(I) ;

      // Display this image
      vpDisplay::display(I) ;

      // Achieve the tracking of the dot in the image
      for(std::vector<vpDot>::iterator i = dot.begin();i!=dot.end();i++){
        i->track(I) ;
      }

      // Update the segment feature from the dot locations
      vpFeatureBuilder::create(seg, cam, dot[0], dot[1]);
      
      vpColVector v ;
      // Compute the visual servoing skew vector
      v = task.computeControlLaw() ;

      // Display the current and desired feature segments in the image display
      vpServoDisplay::display(task, cam, I) ;

      // Apply the computed joint velocities to the robot
      robot.setVelocity(vpRobot::CAMERA_FRAME, v) ;


      // Save feature error (s-s*) for the feature segment. For this feature
      // segments, we have 4 errors (Xc,Yc,l,alpha).
      flog << ( task.getError() ).t() << std::endl;

      // Flush the display
      vpDisplay::flush(I) ;

    }

    flog.close() ; // Close the log file

    // Display task information
    task.print() ;

    // Kill the task
    task.kill();

    return 0;
  }
  catch (...)
  {
    flog.close() ; // Close the log file
    vpERROR_TRACE(" Test failed") ;
    return 0;
  }
}


#else
int
main()
{
  vpERROR_TRACE("You do not have an afma6 robot or a firewire framegrabber connected to your computer...");
}
#endif